Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm
نویسندگان
چکیده
The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low velocity trajectory tracking using very low feedback gains. The novelty of this research is therefore the development of a systematic algorithm to extract the model parameters of a harmonic drive transmission in the robot arm to facilitate model-based control. We have chosen the elbow pitch joint (joint 4) of the PA10 robot arm for estimation and modeling purposes. We have done several experiments to identify the various parameters of the harmonic drive system. We conclude with a sample trajectory tracking task whereby the feedback torque required to do trajectory tracking with and without the parameter identification of the HDT is significantly different.
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